Using Low Cost Inertial Sensors for Integrated Satellite-/Inertial Navigation

Stefan Vieweg

Abstract:	The Global Navigation Satellite Systems GNSS present without doubt a great variety of applica- tions in high-precision navigation. Nevertheless, while using the GNSS as sole-means navigation system in safety-critical situations, the reliabi- lity and integrity can not be guaranteed comple- tely. There is a need for further information to compensate for this deficit, especially with re- gard to questions of authorization. The inertial sensors can be used to complement the charac- teristics of the GNSS, due to their good dyna- mic properties and their self-containedness. The failure behaviour of the inertial sensors is well known and can be described easily and thus it is possible for such an integrated navigation sy- stem to meet the three essential requirements: accuracy, reliability and integrity. As long as an adequate error-modelling and -calibration is performed, even even low-cost inertial sensors with systematic and major error characteristics (high drift rates, uncalibrated preflight biases, etc.) can be used within this integrated naviga- tion system. The Institute of Flight Guidance and Control of the TU Braunschweig has investigated several orthogonal inertial sensor clusters with six de- grees of freedom and drift rates of 0.5’/9 in an integrated navigation system. The modular in- tegrated navigation system GLONAV of the In- stitute with high-performance laser-gyros (with drift rates of O.Ol”/s) has been used as a re- ference in the same test scenarios. Some of the results of stationary trials, car- and flight-tests are presented in this paper.
Published in:	Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994) September 20 - 23, 1994 Salt Palace Convention Center Salt Lake City, UT
Pages:	417 - 425
Cite this article:	Vieweg, Stefan, "Using Low Cost Inertial Sensors for Integrated Satellite-/Inertial Navigation," Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994), Salt Lake City, UT, September 1994, pp. 417-425.
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